A practical PID regulator with bounded torques for robot manipulators

Victor Santibañez, Karla Camarillo, Javier Moreno-Valenzuela, Ricardo Campa

Research output: Contribution to journalArticleResearchpeer-review

39 Citations (Scopus)

Abstract

This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of die closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints. © ICROS, KIEE and Springer 2010.
Original languageAmerican English
Pages (from-to)544-555
Number of pages488
JournalInternational Journal of Control, Automation and Systems
DOIs
StatePublished - 1 Jun 2010
Externally publishedYes

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Manipulators
Torque
Industrial robots
Robots
Asymptotic stability
Controllers
Actuators
Computer control
Closed loop systems

Cite this

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A practical PID regulator with bounded torques for robot manipulators. / Santibañez, Victor; Camarillo, Karla; Moreno-Valenzuela, Javier; Campa, Ricardo.

In: International Journal of Control, Automation and Systems, 01.06.2010, p. 544-555.

Research output: Contribution to journalArticleResearchpeer-review

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